/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
* Author: TKruse
*********************************************************************/

#ifndef OBSTACLE_COST_FUNCTION_H_
#define OBSTACLE_COST_FUNCTION_H_

#include <base_local_planner/trajectory_cost_function.h>

#include <base_local_planner/costmap_model.h>
#include <costmap_2d/costmap_2d.h>

namespace base_local_planner
{

/**
* class ObstacleCostFunction
* @brief Uses costmap 2d to assign negative costs if robot footprint
* is in obstacle on any point of the trajectory.
*/
class ObstacleCostFunction : public TrajectoryCostFunction
{

public:
    ObstacleCostFunction(costmap_2d::Costmap2D *costmap);

    ~ObstacleCostFunction();

    bool prepare() { return true; }

    double scoreTrajectory(Trajectory &traj);

    void setSumScores(bool score_sums) { sum_scores_ = score_sums; }

    void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed);

    void setFootprint(std::vector<geometry_msgs::Point> footprint_spec) { footprint_spec_ = footprint_spec; }

    // helper functions, made static for easy unit testing 辅助函数，为便于单元测试而设置为静态
    static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor);

    static double footprintCost(
            const double &x,
            const double &y,
            const double &th,
            double scale,
            std::vector<geometry_msgs::Point> footprint_spec,
            costmap_2d::Costmap2D *costmap,
            base_local_planner::WorldModel *world_model);

private:
    costmap_2d::Costmap2D *costmap_;
    std::vector<geometry_msgs::Point> footprint_spec_;
    base_local_planner::WorldModel *world_model_;
    double max_trans_vel_;
    bool sum_scores_;
    // footprint scaling with velocity;
    double max_scaling_factor_, scaling_speed_;
};

} /* namespace base_local_planner */
#endif /* OBSTACLE_COST_FUNCTION_H_ */
